enlarge functional simple ranging/interrupt example, to cater for multi-zone.
Dependencies: X_NUCLEO_53L1A2
Diff: main.cpp
- Revision:
- 2:25bcfa4b1aca
- Parent:
- 1:c67af60ec906
- Child:
- 3:09f23aad108a
--- a/main.cpp Mon Nov 09 17:23:54 2020 +0000 +++ b/main.cpp Wed May 12 14:30:46 2021 +0000 @@ -1,21 +1,42 @@ /* - * This VL53L1X Expansion board test application performs range measurements - * using the onboard embedded centre sensor and two satelites, in multizone, interrupt mode. - * Measured ranges are ouput on the Serial Port, running at 115200 baud. + * This VL53L1CB Expansion board test application performs range measurements + * using the onboard embedded sensor and two satellites, in interrupt mode. + * Measured ranges are ouput on the Serial Port, running at 115200 baud. + * + * This is designed to work with MBed v2.x, & MBedOS v5.x / v6.x. + * + * The Reset button can be used to restart the program. + * + * *** NOTE : + * Default Mbed build system settings disable printf() floating-point support. + * Offline builds can enable this, again. + * https://github.com/ARMmbed/mbed-os/blob/master/platform/source/minimal-printf/README.md + * .\mbed-os\platform\mbed_lib.json * - * - * This is designed to work with MBed V2 , MBed V5 and MBed V6. + * *** NOTE : By default hardlinks U10, U11, U15 & U18, on the underside of + * the X-NUCELO-53L1A2 expansion board are not made/OFF. + * These links must be made to allow interrupts from the Satellite boards + * to be received. + * U11 and U18 must be made/ON to allow interrupts to be received from the + * INT_L & INT_R positions; or + * U10 and U15 must be made/ON to allow interrupts to be received from the + * Alternate INT_L & INT_R positions. + * The X_NUCLEO_53L1A2 library defaults to use the INT_L/INT_R positions. + * INT_L is available on expansion board Arduino Connector CN5, pin 1 as D8. + * Alternate INT_L is on CN5 Connector pin 2 as D9. + * INT_R is available on expansion board Arduino Connector CN9, pin 3 as D2. + * Alternate INT_R is on CN9 Connector pin 5 as D4. + * The pinouts are shown here : https://developer.mbed.org/components/X-NUCLEO-53L1A2/ * - * - * The Reset button can be used to restart the program. */ #include <stdio.h> +#include <time.h> #include "mbed.h" + #include "XNucleo53L1A2.h" #include "ToF_I2C.h" -#include <time.h> // define the i2c comms pins @@ -29,201 +50,177 @@ // the satellite pins depend on solder blobs on the back of the shield. // they may not exist or may be one of two sets. // the centre pin always exists -PinName LeftIntPin = D9; -PinName RightIntPin = D4; +//PinName LeftIntPin = D8; +PinName RightIntPin = D2; // alternate set -//PinName LeftIntPin = D8; -//PinName RightIntPin = D2; +PinName LeftIntPin = D9; +//PinName RightIntPin = D4; static XNucleo53L1A2 *board=NULL; #if (MBED_VERSION > 60300) -UnbufferedSerial pc(SERIAL_TX, SERIAL_RX); +UnbufferedSerial pc(USBTX, USBRX); extern "C" void wait_ms(int ms); #else Serial pc(SERIAL_TX, SERIAL_RX); #endif -// flags to indicate an interrupt has happened -static int int_centre_result = 0; -static int int_left_result = 0; -static int int_right_result = 0; - -// flags to indicate an interrupt has cleared -static int int_centre_dropped = 0; -static int int_left_dropped = 0; -static int int_right_dropped = 0; - -// timing for debug purposes -uint32_t centre_polling_time_ms; -uint32_t centre_start_time_ms; -uint32_t centre_end_time_ms; +#if TARGET_STM // we are cross compiling for an STM32-Nucleo + InterruptIn stop_button(BUTTON1); +#endif +#if TARGET_Freescale // we are cross-compiling for NXP FRDM boards. + InterruptIn stop_button(SW2); +#endif void process_interrupt( VL53L1 * sensor,VL53L1_DEV dev ); void print_results( int devSpiNumber, VL53L1_MultiRangingData_t *pMultiRangingData ); +VL53L1_Dev_t devCentre; +VL53L1_Dev_t devLeft; +VL53L1_Dev_t devRight; +VL53L1_DEV Dev = &devCentre; -// this class services the interrupts from the ToF sensors. -// There is a limited amount you can do in an interrupt routine; printfs,mutexes break them among other things. -// We keep things simple by only raising a flag so all the real work is done outside the interrupt. -// This is designed around MBED V2 which doesn't have the RTOS features that would make this work nicely e.g. semaphores/queues. -class WaitForMeasurement { -public: +/* Installed sensors count */ +int sensorCnt = 0; + +/* installed sensors prefixes */ +char installedSensors[3]; + +/* interrupt requests */ +volatile bool centerSensor = false; +volatile bool leftSensor = false; +volatile bool rightSensor = false; +volatile bool int_measuring_stop = false; + +/* Current sensor number*/ +volatile int currentSensor = 0; +/* current displayed sensor change IRQ */ +volatile bool switchChanged = false; -WaitForMeasurement(): _interrupt(A1) +/* ISR callback function of the centre sensor */ +void sensor_centre_irq(void) { + centerSensor = true; + board->sensor_centre->disable_interrupt_measure_detection_irq(); +} + +/* ISR callback function of the left sensor */ +void sensor_left_irq(void) +{ + leftSensor = true; + board->sensor_left->disable_interrupt_measure_detection_irq(); } +/* ISR callback function of the right sensor */ +void sensor_right_irq(void) +{ + rightSensor = true; + board->sensor_right->disable_interrupt_measure_detection_irq(); +} - // constructor - Sensor is not used and can be removed - WaitForMeasurement(PinName pin,VL53L1_DEV Dev) : _interrupt(pin) // create the InterruptIn on the pin specified to Counter - { - Devlocal = Dev; - pinlocal = pin; - - #include "mbed.h" - - printf("WaitForMeasurement %d \n",Dev->i2c_slave_address); - _interrupt.rise(callback(this, &WaitForMeasurement::got_interrupt)); // if interrupt happens read data - _interrupt.fall(callback(this, &WaitForMeasurement::interruptdropped)); // if interupt clears, start next reading - - } - - // function is called every time an interupt is cleared. causes - void interruptdropped() - { +/* ISR callback function of the user blue button to switch measuring sensor. */ +void switch_measuring_sensor_irq(void) +{ + stop_button.disable_irq(); + switchChanged = true; +} + +/* + * This function calls the interrupt handler for each sensor + * and outputs the range + */ +inline void measure_sensors() +{ + int status = 0; + bool current = false; + uint16_t distance = 0; + + /* Handle the interrupt and output the range from the centre sensor */ + if (centerSensor) { + centerSensor = false; +// board->sensor_centre->handle_irq(&distance); + status = board->sensor_centre->VL53L1_GetDistance(&distance); + status = board->sensor_centre->VL53L1_ClearInterrupt(); + board->sensor_centre->enable_interrupt_measure_detection_irq(); - if (Devlocal->i2c_slave_address == NEW_SENSOR_CENTRE_ADDRESS) - int_centre_dropped = 1; //flag to main that interrupt cleared. A flag is raised which allows the main routine to service interupt. - if (Devlocal->i2c_slave_address == NEW_SENSOR_LEFT_ADDRESS) - int_left_dropped = 1; //flag to main that interrupt cleared - if (Devlocal->i2c_slave_address == NEW_SENSOR_RIGHT_ADDRESS) - int_right_dropped = 1; //flag to main that interrupt cleared - - } - - // function is called every time an interupt is seen. A flag is raised which allows the main routine to service the interupt. - void got_interrupt() - { - DigitalIn intp(pinlocal); - _count++; - - if (Devlocal->i2c_slave_address == NEW_SENSOR_CENTRE_ADDRESS) - int_centre_result = 1; //flag to main that interrupt happened - if (Devlocal->i2c_slave_address == NEW_SENSOR_LEFT_ADDRESS) - int_left_result = 1; //flag to main that interrupt happened7 - if (Devlocal->i2c_slave_address == NEW_SENSOR_RIGHT_ADDRESS) - int_right_result = 1; //flag to main that interrupt happened - - } - - - //destructor - ~WaitForMeasurement() - { - printf("WaitForMeasurement destruction \n"); + current = (currentSensor == 0); + if (current) { + printf("Centre: %d\r\n", distance); + } } -private: - InterruptIn _interrupt; - PinName pinlocal; - volatile int _count; - VL53L1_DEV Devlocal; - int status; - -}; - - + /* Handle the interrupt and output the range from the left sensor */ + if (leftSensor) { + leftSensor = false; +// board->sensor_left->handle_irq(&distance); + status = board->sensor_left->VL53L1_GetDistance(&distance); + status = board->sensor_left->VL53L1_ClearInterrupt(); + board->sensor_left->enable_interrupt_measure_detection_irq(); + + current = (installedSensors[currentSensor] == 'L'); + if (current) { + printf("Left: %d\r\n", distance); + } + } -VL53L1_Dev_t devCentre; -VL53L1_Dev_t devLeft; -VL53L1_Dev_t devRight; -VL53L1_DEV Dev = &devCentre; + /* Handle the interrupt and output the range from the right sensor */ + if (rightSensor) { + rightSensor = false; +// board->sensor_right->handle_irq(&distance); + status = board->sensor_right->VL53L1_GetDistance(&distance); + status = board->sensor_right->VL53L1_ClearInterrupt(); + board->sensor_right->enable_interrupt_measure_detection_irq(); + + current = (installedSensors[currentSensor] == 'R'); + if (current) { + printf("Right: %d\r\n", distance); + } + } +} - -/*=================================== Main ================================== -=============================================================================*/ -int main() -{ - int status; - VL53L1 * Sensor; - uint16_t wordData; +/* + * Add to an array a character that represents the sensor and start ranging + */ +int init_sensors_array() +{ + int status = 0; + VL53L1 *Sensor; uint8_t ToFSensor = 1; // 0=Left, 1=Center(default), 2=Right - - WaitForMeasurement* int2; - WaitForMeasurement* int1; - WaitForMeasurement* int3; - - pc.baud(115200); // baud rate is important as printf statements take a lot of time - - printf("main_interrupt_multizone \r\n"); - -// create i2c interface - ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL); + sensorCnt = 0; - dev_I2C->frequency(400000); //also needs doing in spi_interface.c - - /* creates the 53L1A2 expansion board singleton obj */ - board = XNucleo53L1A2::instance(dev_I2C, CentreIntPin, RightIntPin, D2); - - printf("board created!\r\n"); - - /* init the 53L1A1 expansion board with default values */ - status = board->init_board(); - if (status) { - printf("Failed to init board!\r\n"); - return 0; + if (board->sensor_centre != NULL) { + Dev = &devCentre; + Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS; + Sensor = board->sensor_centre; + printf("configuring centre channel \n"); } - - - printf("board initiated! - %d\r\n", status); - // create the sensor controller classes for each sensor and initialise the sensors - for (ToFSensor=0;ToFSensor< NUM_SENSORS;ToFSensor++){ - switch(ToFSensor){ - case 0: - if (board->sensor_centre== NULL ) continue; // don't create if sensor not detected - Dev=&devCentre; - Sensor=board->sensor_centre; - Dev->i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS; - printf("configuring centre channel \n"); - break; - case 1: - if (board->sensor_left== NULL ) continue; // don't create if sensor not detected - Dev=&devLeft; - Sensor=board->sensor_left; - Dev->i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS; - printf("configuring left channel \n"); - break; - case 2: - if (board->sensor_right== NULL ) continue; // don't create if sensor not detected - Dev=&devRight; - Sensor=board->sensor_right; - Dev->i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS; - printf("configuring right channel \n"); - break; - default: - printf(" error in switch, invalid ToF sensor \n"); - } //end of switch - -// configure the sensors - Dev->comms_speed_khz = 400; - - Dev->comms_type = 1; - -/* Device Initialization and setting */ + + if (board->sensor_left != NULL) { + Dev = &devLeft; + Dev->i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS; + Sensor = board->sensor_left; + printf("configuring left channel \n"); + } + + if (board->sensor_right != NULL) { + Dev = &devRight; + Dev->i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS; + Sensor = board->sensor_right; + printf("configuring right channel \n"); + } +/* +// Device Initialization and setting status = Sensor->vl53L1_DataInit(); status = Sensor->vl53L1_StaticInit(); status = Sensor->vl53L1_SetPresetMode( VL53L1_PRESETMODE_MULTIZONES_SCANNING); - - //configure the regions of interest for each sensor VL53L1_RoiConfig_t roiConfig; - roiConfig.NumberOfRoi =3; + roiConfig.NumberOfRoi = 3; roiConfig.UserRois[0].TopLeftX = 0; roiConfig.UserRois[0].TopLeftY = 9; roiConfig.UserRois[0].BotRightX = 4; @@ -241,36 +238,93 @@ status = Sensor->vl53L1_SetDistanceMode( VL53L1_DISTANCEMODE_LONG); // status = Sensor->VL53L1_SetMeasurementTimingBudgetMicroSeconds( 100 * 500); // error -21 is because of this. Don't know why +*/ + + + /* start the measure on the center sensor */ + if (NULL != board->sensor_centre) { + installedSensors[sensorCnt] = 'C'; + status = board->sensor_centre->stop_measurement(); + if (status != 0) { + return status; + } + status = board->sensor_centre->start_measurement(&sensor_centre_irq); + if (status != 0) { + return status; + } + ++sensorCnt; + } + /* start the measure on the left sensor */ + if (NULL != board->sensor_left) { + installedSensors[sensorCnt] = 'L'; + status = board->sensor_left->stop_measurement(); + if (status != 0) { + return status; + } + status = board->sensor_left->start_measurement(&sensor_left_irq); + if (status != 0) { + return status; + } + ++sensorCnt; + } + /* start the measure on the right sensor */ + if (NULL != board->sensor_right) { + installedSensors[sensorCnt] = 'R'; + status = board->sensor_right->stop_measurement(); + if (status != 0) { + return status; + } + status = board->sensor_right->start_measurement(&sensor_right_irq); + if (status != 0) { + return status; + } + ++sensorCnt; + } + currentSensor = 0; + return status; +} + + + +/*=================================== Main ================================== +=============================================================================*/ +int main() +{ + int status; + + stop_button.rise(&switch_measuring_sensor_irq); + stop_button.enable_irq(); + +// pc.baud(115200); // baud rate is important as printf statements take a lot of time + + printf("mbed version : %d \r\n", MBED_VERSION); + +// create i2c interface + ToF_DevI2C *dev_I2C = new ToF_DevI2C(I2C_SDA, I2C_SCL); + /* creates the 53L1A2 expansion board singleton obj */ + board = XNucleo53L1A2::instance(dev_I2C, CentreIntPin, LeftIntPin, RightIntPin); + + printf("board created!\r\n"); + + /* init the 53L1A1 expansion board with default values */ + status = board->init_board(); + if (status) { + printf("Failed to init board!\r\n"); + return status; } - // create interrupt handlers for the sensors that exist - if (board->sensor_centre!= NULL ) - { - printf("starting interrupt centre\n"); - devCentre.i2c_slave_address = NEW_SENSOR_CENTRE_ADDRESS; - int1 = new WaitForMeasurement(CentreIntPin,&devCentre); // create a interrupt class for this interrupt pin - status = board->sensor_centre->vl53L1_StartMeasurement(); //start the sensor measuring - } + printf("board initiated! - %d\r\n", status); - if (board->sensor_left!= NULL ) - { - printf("starting interrupt left\n"); - devLeft.i2c_slave_address = NEW_SENSOR_LEFT_ADDRESS; - int2 = new WaitForMeasurement(LeftIntPin,&devLeft); // create a interrupt class for this interrupt pin - status = board->sensor_left->vl53L1_StartMeasurement(); //start the sensor measuring + /* init an array with chars to id the sensors */ + status = init_sensors_array(); + if (status != 0) { + printf("Failed to init sensors!\r\n"); + return status; } - if (board->sensor_right!= NULL ) - { - printf("starting interrupt right\n"); - devRight.i2c_slave_address = NEW_SENSOR_RIGHT_ADDRESS; - int3 = new WaitForMeasurement(RightIntPin,&devRight); // create a interrupt class for this interrupt pin - status = board->sensor_right->vl53L1_StartMeasurement();//start the sensor measuring - } - - + printf("loop forever\n"); - +/* // loop waiting for interrupts to happen. This is signaled by int_centre_result,int_left_result or int_right_result // being non zero. When the interrupts clear this is signaled by int_centre_dropped,int_left_dropped and int_right_dropped. // These are set back to zero when processing is completed @@ -342,6 +396,19 @@ wait_ms( 1 * 5); } +*/ + /* Main ranging interrupt loop */ + while (true) { + measure_sensors(); + if (switchChanged) { + ++currentSensor; + if (currentSensor == sensorCnt) + currentSensor = 0; + printf("Sensor changed to %c\r\n", installedSensors[currentSensor]); + switchChanged = false; + stop_button.enable_irq(); + } + } }